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<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
<a href="classpcl_1_1_gray_stereo_matching-members.html">所有成员列表</a>  </div>
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<div class="title">pcl::GrayStereoMatching类 参考<span class="mlabels"><span class="mlabel">abstract</span></span></div>  </div>
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<p>Stereo Matching abstract class for Grayscale images  
 <a href="classpcl_1_1_gray_stereo_matching.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="stereo__matching_8h_source.html">stereo_matching.h</a>&gt;</code></p>
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类 pcl::GrayStereoMatching 继承关系图:</div>
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  <img src="classpcl_1_1_gray_stereo_matching.png" usemap="#pcl::GrayStereoMatching_map" alt=""/>
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<area href="classpcl_1_1_stereo_matching.html" title="Stereo Matching abstract class" alt="pcl::StereoMatching" shape="rect" coords="113,0,330,24"/>
<area href="classpcl_1_1_adaptive_cost_s_o_stereo_matching.html" title="Adaptive Cost 2-pass Scanline Optimization Stereo Matching class" alt="pcl::AdaptiveCostSOStereoMatching" shape="rect" coords="0,112,217,136"/>
<area href="classpcl_1_1_block_based_stereo_matching.html" title="Block based (or fixed window) Stereo Matching class" alt="pcl::BlockBasedStereoMatching" shape="rect" coords="227,112,444,136"/>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a164869d4f6823d3d962a1ad6c9092771"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_gray_stereo_matching.html#a164869d4f6823d3d962a1ad6c9092771">compute</a> (unsigned char *ref_img, unsigned char *trg_img, int width, int height)</td></tr>
<tr class="memdesc:a164869d4f6823d3d962a1ad6c9092771"><td class="mdescLeft">&#160;</td><td class="mdescRight">stereo processing, it computes a disparity map stored internally by the class  <a href="classpcl_1_1_gray_stereo_matching.html#a164869d4f6823d3d962a1ad6c9092771">更多...</a><br /></td></tr>
<tr class="separator:a164869d4f6823d3d962a1ad6c9092771"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8f4521554a5d59d20075e868c7e06475"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_gray_stereo_matching.html#a8f4521554a5d59d20075e868c7e06475">compute</a> (<a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_r_g_b.html">pcl::RGB</a> &gt; &amp;ref, <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_r_g_b.html">pcl::RGB</a> &gt; &amp;trg)</td></tr>
<tr class="memdesc:a8f4521554a5d59d20075e868c7e06475"><td class="mdescLeft">&#160;</td><td class="mdescRight">stereo processing, it computes a disparity map stored internally by the class  <a href="classpcl_1_1_gray_stereo_matching.html#a8f4521554a5d59d20075e868c7e06475">更多...</a><br /></td></tr>
<tr class="separator:a8f4521554a5d59d20075e868c7e06475"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_stereo_matching"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_stereo_matching')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_stereo_matching.html">pcl::StereoMatching</a></td></tr>
<tr class="memitem:a1a579e7d63cb1387602a4f0fdfe90419 inherit pub_methods_classpcl_1_1_stereo_matching"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#a1a579e7d63cb1387602a4f0fdfe90419">setMaxDisparity</a> (int max_disp)</td></tr>
<tr class="memdesc:a1a579e7d63cb1387602a4f0fdfe90419 inherit pub_methods_classpcl_1_1_stereo_matching"><td class="mdescLeft">&#160;</td><td class="mdescRight">setter for number of disparity candidates (disparity range)  <a href="classpcl_1_1_stereo_matching.html#a1a579e7d63cb1387602a4f0fdfe90419">更多...</a><br /></td></tr>
<tr class="separator:a1a579e7d63cb1387602a4f0fdfe90419 inherit pub_methods_classpcl_1_1_stereo_matching"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2e6382c53f7b89a3aa904abdd8fe5fec inherit pub_methods_classpcl_1_1_stereo_matching"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#a2e6382c53f7b89a3aa904abdd8fe5fec">setXOffset</a> (int x_off)</td></tr>
<tr class="memdesc:a2e6382c53f7b89a3aa904abdd8fe5fec inherit pub_methods_classpcl_1_1_stereo_matching"><td class="mdescLeft">&#160;</td><td class="mdescRight">setter for horizontal offset, i.e. number of pixels to shift the disparity range over the target image  <a href="classpcl_1_1_stereo_matching.html#a2e6382c53f7b89a3aa904abdd8fe5fec">更多...</a><br /></td></tr>
<tr class="separator:a2e6382c53f7b89a3aa904abdd8fe5fec inherit pub_methods_classpcl_1_1_stereo_matching"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa37fb215c40ea6e9bb2617667bcbd17e inherit pub_methods_classpcl_1_1_stereo_matching"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#aa37fb215c40ea6e9bb2617667bcbd17e">setRatioFilter</a> (int ratio_filter)</td></tr>
<tr class="memdesc:aa37fb215c40ea6e9bb2617667bcbd17e inherit pub_methods_classpcl_1_1_stereo_matching"><td class="mdescLeft">&#160;</td><td class="mdescRight">setter for the value of the ratio filter  <a href="classpcl_1_1_stereo_matching.html#aa37fb215c40ea6e9bb2617667bcbd17e">更多...</a><br /></td></tr>
<tr class="separator:aa37fb215c40ea6e9bb2617667bcbd17e inherit pub_methods_classpcl_1_1_stereo_matching"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a047a59ada6606c9dea36b263f8c99136 inherit pub_methods_classpcl_1_1_stereo_matching"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#a047a59ada6606c9dea36b263f8c99136">setPeakFilter</a> (int peak_filter)</td></tr>
<tr class="memdesc:a047a59ada6606c9dea36b263f8c99136 inherit pub_methods_classpcl_1_1_stereo_matching"><td class="mdescLeft">&#160;</td><td class="mdescRight">setter for the value of the peak filter  <a href="classpcl_1_1_stereo_matching.html#a047a59ada6606c9dea36b263f8c99136">更多...</a><br /></td></tr>
<tr class="separator:a047a59ada6606c9dea36b263f8c99136 inherit pub_methods_classpcl_1_1_stereo_matching"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac9613b9bcbd5e606bc6d5bf193d5625c inherit pub_methods_classpcl_1_1_stereo_matching"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#ac9613b9bcbd5e606bc6d5bf193d5625c">setPreProcessing</a> (bool is_pre_proc)</td></tr>
<tr class="memdesc:ac9613b9bcbd5e606bc6d5bf193d5625c inherit pub_methods_classpcl_1_1_stereo_matching"><td class="mdescLeft">&#160;</td><td class="mdescRight">setter for the pre processing step  <a href="classpcl_1_1_stereo_matching.html#ac9613b9bcbd5e606bc6d5bf193d5625c">更多...</a><br /></td></tr>
<tr class="separator:ac9613b9bcbd5e606bc6d5bf193d5625c inherit pub_methods_classpcl_1_1_stereo_matching"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a585b2b60aa7a9eef0bcb2d08be4334be inherit pub_methods_classpcl_1_1_stereo_matching"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#a585b2b60aa7a9eef0bcb2d08be4334be">setLeftRightCheck</a> (bool is_lr_check)</td></tr>
<tr class="memdesc:a585b2b60aa7a9eef0bcb2d08be4334be inherit pub_methods_classpcl_1_1_stereo_matching"><td class="mdescLeft">&#160;</td><td class="mdescRight">setter for the left-right consistency check stage, that eliminates inconsistent/wrong disparity values from the disparity map at approx. twice the processing cost of the selected stereo algorithm  <a href="classpcl_1_1_stereo_matching.html#a585b2b60aa7a9eef0bcb2d08be4334be">更多...</a><br /></td></tr>
<tr class="separator:a585b2b60aa7a9eef0bcb2d08be4334be inherit pub_methods_classpcl_1_1_stereo_matching"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8123aa5819a47c068c8e126481dcdc36 inherit pub_methods_classpcl_1_1_stereo_matching"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#a8123aa5819a47c068c8e126481dcdc36">setLeftRightCheckThreshold</a> (int lr_check_th)</td></tr>
<tr class="memdesc:a8123aa5819a47c068c8e126481dcdc36 inherit pub_methods_classpcl_1_1_stereo_matching"><td class="mdescLeft">&#160;</td><td class="mdescRight">setter for the left-right consistency check threshold  <a href="classpcl_1_1_stereo_matching.html#a8123aa5819a47c068c8e126481dcdc36">更多...</a><br /></td></tr>
<tr class="separator:a8123aa5819a47c068c8e126481dcdc36 inherit pub_methods_classpcl_1_1_stereo_matching"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aabedfd59ee3b38b52d9bc7510bcca142 inherit pub_methods_classpcl_1_1_stereo_matching"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#aabedfd59ee3b38b52d9bc7510bcca142">medianFilter</a> (int radius)</td></tr>
<tr class="memdesc:aabedfd59ee3b38b52d9bc7510bcca142 inherit pub_methods_classpcl_1_1_stereo_matching"><td class="mdescLeft">&#160;</td><td class="mdescRight">median filter applied on the previously computed disparity map Note: the "compute" method must have been previously called at least once in order for this function to have any effect  <a href="classpcl_1_1_stereo_matching.html#aabedfd59ee3b38b52d9bc7510bcca142">更多...</a><br /></td></tr>
<tr class="separator:aabedfd59ee3b38b52d9bc7510bcca142 inherit pub_methods_classpcl_1_1_stereo_matching"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad5cb4b96c50b127e38ff3b291e602c00 inherit pub_methods_classpcl_1_1_stereo_matching"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#ad5cb4b96c50b127e38ff3b291e602c00">getPointCloud</a> (float u_c, float v_c, float focal, float baseline, <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a> &gt;::Ptr cloud)</td></tr>
<tr class="memdesc:ad5cb4b96c50b127e38ff3b291e602c00 inherit pub_methods_classpcl_1_1_stereo_matching"><td class="mdescLeft">&#160;</td><td class="mdescRight">computation of the 3D point cloud from the previously computed disparity map without color information Note: the "compute" method must have been previously called at least once in order for this function to have any effect  <a href="classpcl_1_1_stereo_matching.html#ad5cb4b96c50b127e38ff3b291e602c00">更多...</a><br /></td></tr>
<tr class="separator:ad5cb4b96c50b127e38ff3b291e602c00 inherit pub_methods_classpcl_1_1_stereo_matching"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adae373bb5275a9c3ea35a69e9c3c2cbb inherit pub_methods_classpcl_1_1_stereo_matching"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#adae373bb5275a9c3ea35a69e9c3c2cbb">getPointCloud</a> (float u_c, float v_c, float focal, float baseline, <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b.html">pcl::PointXYZRGB</a> &gt;::Ptr cloud, <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_r_g_b.html">pcl::RGB</a> &gt;::Ptr texture)</td></tr>
<tr class="memdesc:adae373bb5275a9c3ea35a69e9c3c2cbb inherit pub_methods_classpcl_1_1_stereo_matching"><td class="mdescLeft">&#160;</td><td class="mdescRight">computation of the 3D point cloud from the previously computed disparity map including color information Note: the "compute" method must have been previously called at least once in order for this function to have any effect  <a href="classpcl_1_1_stereo_matching.html#adae373bb5275a9c3ea35a69e9c3c2cbb">更多...</a><br /></td></tr>
<tr class="separator:adae373bb5275a9c3ea35a69e9c3c2cbb inherit pub_methods_classpcl_1_1_stereo_matching"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9457e333d4c281d5a45e2495775c6fd2 inherit pub_methods_classpcl_1_1_stereo_matching"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#a9457e333d4c281d5a45e2495775c6fd2">getVisualMap</a> (<a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_r_g_b.html">pcl::RGB</a> &gt;::Ptr vMap)</td></tr>
<tr class="memdesc:a9457e333d4c281d5a45e2495775c6fd2 inherit pub_methods_classpcl_1_1_stereo_matching"><td class="mdescLeft">&#160;</td><td class="mdescRight">computation of a <a class="el" href="structpcl_1_1_r_g_b.html" title="A structure representing RGB color information.">pcl::RGB</a> cloud with scaled disparity values it can be used to display a rescaled version of the disparity map by means of the pcl::ImageViewer invalid disparity values are shown in green Note: the "compute" method must have been previously called at least once in order for this function to have any effect  <a href="classpcl_1_1_stereo_matching.html#a9457e333d4c281d5a45e2495775c6fd2">更多...</a><br /></td></tr>
<tr class="separator:a9457e333d4c281d5a45e2495775c6fd2 inherit pub_methods_classpcl_1_1_stereo_matching"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:ab1fb6359b8555058024ad31ddd64eecb"><td class="memItemLeft" align="right" valign="top"><a id="ab1fb6359b8555058024ad31ddd64eecb"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>compute_impl</b> (unsigned char *ref_img, unsigned char *trg_img)=0</td></tr>
<tr class="separator:ab1fb6359b8555058024ad31ddd64eecb"><td class="memSeparator" colspan="2">&#160;</td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>preProcessing</b> (unsigned char *img, unsigned char *pp_img)</td></tr>
<tr class="separator:ab99c3f3fbe57518ff83b6f60a77105c4"><td class="memSeparator" colspan="2">&#160;</td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>imgFlip</b> (unsigned char *&amp;img)</td></tr>
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<tr class="inherit_header pro_methods_classpcl_1_1_stereo_matching"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_stereo_matching')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_stereo_matching.html">pcl::StereoMatching</a></td></tr>
<tr class="memitem:a2014d3b1a18a6778b41dd290c130216c inherit pro_methods_classpcl_1_1_stereo_matching"><td class="memItemLeft" align="right" valign="top"><a id="a2014d3b1a18a6778b41dd290c130216c"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>leftRightCheck</b> ()</td></tr>
<tr class="separator:a2014d3b1a18a6778b41dd290c130216c inherit pro_methods_classpcl_1_1_stereo_matching"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acb4f32b96743d8c2414f1b482966fde6 inherit pro_methods_classpcl_1_1_stereo_matching"><td class="memItemLeft" align="right" valign="top"><a id="acb4f32b96743d8c2414f1b482966fde6"></a>
short int&#160;</td><td class="memItemRight" valign="bottom"><b>computeStereoSubpixel</b> (int dbest, int s1, int s2, int s3)</td></tr>
<tr class="separator:acb4f32b96743d8c2414f1b482966fde6 inherit pro_methods_classpcl_1_1_stereo_matching"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a16fad1370dfee4b6ed95bb1e4236a455 inherit pro_methods_classpcl_1_1_stereo_matching"><td class="memItemLeft" align="right" valign="top"><a id="a16fad1370dfee4b6ed95bb1e4236a455"></a>
short int&#160;</td><td class="memItemRight" valign="bottom"><b>computeStereoSubpixel</b> (int dbest, float s1, float s2, float s3)</td></tr>
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short int&#160;</td><td class="memItemRight" valign="bottom"><b>doStereoRatioFilter</b> (int *acc, short int dbest, int sad_min, int ratio_filter, int maxdisp, int precision=100)</td></tr>
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short int&#160;</td><td class="memItemRight" valign="bottom"><b>doStereoRatioFilter</b> (float *acc, short int dbest, float sad_min, int ratio_filter, int maxdisp, int precision=100)</td></tr>
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short int&#160;</td><td class="memItemRight" valign="bottom"><b>doStereoPeakFilter</b> (int *acc, short int dbest, int peak_filter, int maxdisp)</td></tr>
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short int&#160;</td><td class="memItemRight" valign="bottom"><b>doStereoPeakFilter</b> (float *acc, short int dbest, int peak_filter, int maxdisp)</td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
额外继承的成员函数</h2></td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_stereo_matching"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_stereo_matching')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_stereo_matching.html">pcl::StereoMatching</a></td></tr>
<tr class="memitem:ad75ea73c80e843b4f8348afb9d3dcf9b inherit pro_attribs_classpcl_1_1_stereo_matching"><td class="memItemLeft" align="right" valign="top"><a id="ad75ea73c80e843b4f8348afb9d3dcf9b"></a>
short int *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#ad75ea73c80e843b4f8348afb9d3dcf9b">disp_map_</a></td></tr>
<tr class="memdesc:ad75ea73c80e843b4f8348afb9d3dcf9b inherit pro_attribs_classpcl_1_1_stereo_matching"><td class="mdescLeft">&#160;</td><td class="mdescRight">The internal disparity map. <br /></td></tr>
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<tr class="memitem:a626e46826cb843f91635e00a5a710e4f inherit pro_attribs_classpcl_1_1_stereo_matching"><td class="memItemLeft" align="right" valign="top"><a id="a626e46826cb843f91635e00a5a710e4f"></a>
unsigned char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#a626e46826cb843f91635e00a5a710e4f">ref_img_</a></td></tr>
<tr class="memdesc:a626e46826cb843f91635e00a5a710e4f inherit pro_attribs_classpcl_1_1_stereo_matching"><td class="mdescLeft">&#160;</td><td class="mdescRight">Local aligned copies of the cloud data. <br /></td></tr>
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<tr class="memitem:af2bd0254e06d8fafa50ca25ab5c7ffda inherit pro_attribs_classpcl_1_1_stereo_matching"><td class="memItemLeft" align="right" valign="top"><a id="af2bd0254e06d8fafa50ca25ab5c7ffda"></a>
unsigned char *&#160;</td><td class="memItemRight" valign="bottom"><b>trg_img_</b></td></tr>
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<tr class="memitem:a5b91204848cdbca8f7d4a759744cc853 inherit pro_attribs_classpcl_1_1_stereo_matching"><td class="memItemLeft" align="right" valign="top"><a id="a5b91204848cdbca8f7d4a759744cc853"></a>
short int *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#a5b91204848cdbca8f7d4a759744cc853">disp_map_trg_</a></td></tr>
<tr class="memdesc:a5b91204848cdbca8f7d4a759744cc853 inherit pro_attribs_classpcl_1_1_stereo_matching"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disparity map used for left-right check. <br /></td></tr>
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<tr class="memitem:a1f2ad6fe5bfc335a9ef44ef1e6605e2c inherit pro_attribs_classpcl_1_1_stereo_matching"><td class="memItemLeft" align="right" valign="top"><a id="a1f2ad6fe5bfc335a9ef44ef1e6605e2c"></a>
unsigned char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#a1f2ad6fe5bfc335a9ef44ef1e6605e2c">pp_ref_img_</a></td></tr>
<tr class="memdesc:a1f2ad6fe5bfc335a9ef44ef1e6605e2c inherit pro_attribs_classpcl_1_1_stereo_matching"><td class="mdescLeft">&#160;</td><td class="mdescRight">Local aligned copies used for pre processing. <br /></td></tr>
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unsigned char *&#160;</td><td class="memItemRight" valign="bottom"><b>pp_trg_img_</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#a6dee0d80b91b1a85bba4f5f647424de7">width_</a></td></tr>
<tr class="memdesc:a6dee0d80b91b1a85bba4f5f647424de7 inherit pro_attribs_classpcl_1_1_stereo_matching"><td class="mdescLeft">&#160;</td><td class="mdescRight">number of pixels per column of the input stereo pair . <br /></td></tr>
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<tr class="memitem:aaef4538d3f38fe1f9676e40a9e906686 inherit pro_attribs_classpcl_1_1_stereo_matching"><td class="memItemLeft" align="right" valign="top"><a id="aaef4538d3f38fe1f9676e40a9e906686"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#aaef4538d3f38fe1f9676e40a9e906686">height_</a></td></tr>
<tr class="memdesc:aaef4538d3f38fe1f9676e40a9e906686 inherit pro_attribs_classpcl_1_1_stereo_matching"><td class="mdescLeft">&#160;</td><td class="mdescRight">number of pixels per row of the input stereo pair . <br /></td></tr>
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<tr class="memitem:a991b1fd18ba88d09637a1d3b0504153b inherit pro_attribs_classpcl_1_1_stereo_matching"><td class="memItemLeft" align="right" valign="top"><a id="a991b1fd18ba88d09637a1d3b0504153b"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#a991b1fd18ba88d09637a1d3b0504153b">max_disp_</a></td></tr>
<tr class="memdesc:a991b1fd18ba88d09637a1d3b0504153b inherit pro_attribs_classpcl_1_1_stereo_matching"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disparity range used for stereo processing. <br /></td></tr>
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<tr class="memitem:abc8a13b6d22e1b08fc9937333b0504e7 inherit pro_attribs_classpcl_1_1_stereo_matching"><td class="memItemLeft" align="right" valign="top"><a id="abc8a13b6d22e1b08fc9937333b0504e7"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#abc8a13b6d22e1b08fc9937333b0504e7">x_off_</a></td></tr>
<tr class="memdesc:abc8a13b6d22e1b08fc9937333b0504e7 inherit pro_attribs_classpcl_1_1_stereo_matching"><td class="mdescLeft">&#160;</td><td class="mdescRight">Horizontal displacemente (x offset) used for stereo processing <br /></td></tr>
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<tr class="memitem:a8567c368513b675fc5e86e95c9e9d1f0 inherit pro_attribs_classpcl_1_1_stereo_matching"><td class="memItemLeft" align="right" valign="top"><a id="a8567c368513b675fc5e86e95c9e9d1f0"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#a8567c368513b675fc5e86e95c9e9d1f0">ratio_filter_</a></td></tr>
<tr class="memdesc:a8567c368513b675fc5e86e95c9e9d1f0 inherit pro_attribs_classpcl_1_1_stereo_matching"><td class="mdescLeft">&#160;</td><td class="mdescRight">Threshold for the ratio filter, <img class="formulaInl" alt="$\in [0 100]$" src="form_75.png"/> <br /></td></tr>
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<tr class="memitem:a275e0342aea6c51ccab9d529d74a2831 inherit pro_attribs_classpcl_1_1_stereo_matching"><td class="memItemLeft" align="right" valign="top"><a id="a275e0342aea6c51ccab9d529d74a2831"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#a275e0342aea6c51ccab9d529d74a2831">peak_filter_</a></td></tr>
<tr class="memdesc:a275e0342aea6c51ccab9d529d74a2831 inherit pro_attribs_classpcl_1_1_stereo_matching"><td class="mdescLeft">&#160;</td><td class="mdescRight">Threshold for the peak filter, <img class="formulaInl" alt="$\in [0 \infty]$" src="form_76.png"/> <br /></td></tr>
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<tr class="memitem:ae5891b7558f219781df47c59476aa7cc inherit pro_attribs_classpcl_1_1_stereo_matching"><td class="memItemLeft" align="right" valign="top"><a id="ae5891b7558f219781df47c59476aa7cc"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#ae5891b7558f219781df47c59476aa7cc">is_pre_proc_</a></td></tr>
<tr class="memdesc:ae5891b7558f219781df47c59476aa7cc inherit pro_attribs_classpcl_1_1_stereo_matching"><td class="mdescLeft">&#160;</td><td class="mdescRight">toggle for the activation of the pre-processing stage <br /></td></tr>
<tr class="separator:ae5891b7558f219781df47c59476aa7cc inherit pro_attribs_classpcl_1_1_stereo_matching"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3262d09c0cdb69059c63c7578f499445 inherit pro_attribs_classpcl_1_1_stereo_matching"><td class="memItemLeft" align="right" valign="top"><a id="a3262d09c0cdb69059c63c7578f499445"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#a3262d09c0cdb69059c63c7578f499445">is_lr_check_</a></td></tr>
<tr class="memdesc:a3262d09c0cdb69059c63c7578f499445 inherit pro_attribs_classpcl_1_1_stereo_matching"><td class="mdescLeft">&#160;</td><td class="mdescRight">toggle for the activation of the left-right consistency check stage <br /></td></tr>
<tr class="separator:a3262d09c0cdb69059c63c7578f499445 inherit pro_attribs_classpcl_1_1_stereo_matching"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a656a1e68728d6332e42aeb349379e369 inherit pro_attribs_classpcl_1_1_stereo_matching"><td class="memItemLeft" align="right" valign="top"><a id="a656a1e68728d6332e42aeb349379e369"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_stereo_matching.html#a656a1e68728d6332e42aeb349379e369">lr_check_th_</a></td></tr>
<tr class="memdesc:a656a1e68728d6332e42aeb349379e369 inherit pro_attribs_classpcl_1_1_stereo_matching"><td class="mdescLeft">&#160;</td><td class="mdescRight">Threshold for the left-right consistency check, typically either 0 or 1 <br /></td></tr>
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</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p>Stereo Matching abstract class for Grayscale images </p>
<p>The class implements some functionalities of <a class="el" href="classpcl_1_1_stereo_matching.html" title="Stereo Matching abstract class">pcl::StereoMatching</a> specific for grayscale stereo processing, such as image pre-processing and left</p>
<dl class="section author"><dt>作者</dt><dd>Federico Tombari (<a href="#" onclick="location.href='mai'+'lto:'+'fed'+'er'+'ico'+'.t'+'omb'+'ar'+'i@u'+'ni'+'bo.'+'it'; return false;">feder<span style="display: none;">.nosp@m.</span>ico.<span style="display: none;">.nosp@m.</span>tomba<span style="display: none;">.nosp@m.</span>ri@u<span style="display: none;">.nosp@m.</span>nibo.<span style="display: none;">.nosp@m.</span>it</a>) </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="a8f4521554a5d59d20075e868c7e06475"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8f4521554a5d59d20075e868c7e06475">&#9670;&nbsp;</a></span>compute() <span class="overload">[1/2]</span></h2>

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          <td class="memname">virtual void pcl::GrayStereoMatching::compute </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_r_g_b.html">pcl::RGB</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>ref</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_r_g_b.html">pcl::RGB</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>trg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>stereo processing, it computes a disparity map stored internally by the class </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">ref</td><td>point cloud of <a class="el" href="structpcl_1_1_r_g_b.html" title="A structure representing RGB color information.">pcl::RGB</a> type containing the pixels of the reference image (left image) the <a class="el" href="structpcl_1_1_r_g_b.html" title="A structure representing RGB color information.">pcl::RGB</a> triplets are automatically converted to grayscale upon call of the method </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">trg</td><td>point cloud of <a class="el" href="structpcl_1_1_r_g_b.html" title="A structure representing RGB color information.">pcl::RGB</a> type containing the pixels of the target image (right image) the <a class="el" href="structpcl_1_1_r_g_b.html" title="A structure representing RGB color information.">pcl::RGB</a> triplets are automatically converted to grayscale upon call of the method </td></tr>
  </table>
  </dd>
</dl>

<p>实现了 <a class="el" href="classpcl_1_1_stereo_matching.html#aa1dd7ee550d99d00a56727ad6e226f48">pcl::StereoMatching</a>.</p>

</div>
</div>
<a id="a164869d4f6823d3d962a1ad6c9092771"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a164869d4f6823d3d962a1ad6c9092771">&#9670;&nbsp;</a></span>compute() <span class="overload">[2/2]</span></h2>

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          <td class="memname">virtual void pcl::GrayStereoMatching::compute </td>
          <td>(</td>
          <td class="paramtype">unsigned char *&#160;</td>
          <td class="paramname"><em>ref_img</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned char *&#160;</td>
          <td class="paramname"><em>trg_img</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>width</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>height</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
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<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
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<p>stereo processing, it computes a disparity map stored internally by the class </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">ref_img</td><td>reference array of image pixels (left image), has to be grayscale single channel </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">trg_img</td><td>target array of image pixels (right image), has to be grayscale single channel </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">width</td><td>number of elements per row for both input arrays </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">height</td><td>number of elements per column for both input arrays </td></tr>
  </table>
  </dd>
</dl>

<p>实现了 <a class="el" href="classpcl_1_1_stereo_matching.html#a6dfc0a33f0afc34852ce4addf2a5f828">pcl::StereoMatching</a>.</p>

</div>
</div>
<hr/>该类的文档由以下文件生成:<ul>
<li>stereo/include/pcl/stereo/<a class="el" href="stereo__matching_8h_source.html">stereo_matching.h</a></li>
</ul>
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    <li class="navelem"><b>pcl</b></li><li class="navelem"><a class="el" href="classpcl_1_1_gray_stereo_matching.html">GrayStereoMatching</a></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
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